version: 66.08
glider: 141
mission: 15
dive: 861
start: 6 9 111 5 14 16
data:
$ID,141
$MISSION,15
$DIVE,861
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-74505.867
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.66
$_SM_ANGLEo,-3.3
$GPS2,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,285.3,4655,-17.5,-10.000
$D_GRID,432
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2890,3682,3019,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.6,-0.0,1,53,0.65,4.30,-16.70,0.000,4,0.130,0.070,2666,1079,3627,0,0,0,0,0,0
$GC,298,-0.57,-146.0,50.4,-14.6,48,305,0.00,2.33,0.00,0.000,6,0.000,0.072,2666,2493,3627,0,0,0,0,0,0
$GC,643,-0.49,-146.0,105.1,-14.6,106,648,0.15,2.40,0.00,0.000,4,0.223,0.082,2700,3899,3626,0,0,0,0,0,0
$GC,713,-0.55,-146.0,113.7,-10.5,112,717,0.00,2.25,0.00,0.000,6,0.000,0.054,2700,2486,3626,0,0,0,0,0,0
$GC,1039,-0.58,-146.0,149.1,-10.8,142,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2486,3626,0,0,0,0,0,0
$GC,1360,-0.61,-146.0,181.4,-10.1,172,1364,0.00,2.28,0.00,0.000,4,0.000,0.067,2700,1076,3625,0,0,0,0,0,0
$GC,1418,-0.66,-146.0,187.9,-10.2,176,1425,0.15,2.33,0.00,0.000,6,0.116,0.064,2651,2499,3624,0,0,0,0,0,0
$STATE,1709,end dive,NO_VERTICAL_VELOCITY
$STATE,1709,begin apogee
$GC,1717,-0.12,0.0,204.2,0.0,204,1843,0.50,0.00,119.43,1.024,6,0.127,0.000,2816,2264,3030,0,0,0,0,0,0
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1847,0.62,146.0,204.2,0.0,215,1982,0.77,2.55,122.35,0.978,4,0.134,0.069,3055,3687,2433,0,0,0,0,0,0
$GC,2011,0.70,193.7,198.1,7.8,229,2061,0.00,2.40,42.62,0.934,6,0.000,0.056,3066,2284,2239,0,0,0,0,0,0
$GC,2380,0.83,237.3,169.8,8.0,264,2426,0.17,2.40,37.72,0.921,4,0.087,0.070,3151,860,2061,0,0,0,0,0,0
$GC,2464,0.78,237.3,159.6,14.2,271,2469,0.15,2.30,0.00,0.000,6,0.191,0.057,3115,2281,2057,0,0,0,0,0,0
$GC,2790,0.78,237.3,119.0,12.0,301,2794,0.00,2.30,0.00,0.000,4,0.000,0.072,3115,3696,2054,0,0,0,0,0,0
$GC,2819,0.76,237.3,115.3,13.0,303,2823,0.00,2.30,0.00,0.000,6,0.000,0.057,3123,2270,2054,0,0,0,0,0,0
$GC,3157,0.76,237.3,72.1,12.7,352,3163,0.00,2.28,0.00,0.000,4,0.000,0.070,3134,867,2053,0,0,0,0,0,0
$GC,3205,0.76,237.3,66.2,12.6,360,3212,0.00,2.28,0.00,0.000,6,0.000,0.057,3134,2278,2052,0,0,0,0,0,0
$GC,3551,0.78,251.2,27.6,9.4,421,3564,0.00,2.30,6.40,0.769,4,0.000,0.069,3133,3683,2004,0,0,0,0,0,0
$GC,3607,0.74,251.2,21.4,12.0,430,3615,0.15,2.30,0.00,0.000,6,0.187,0.066,3106,2269,2003,0,0,0,0,0,0
$FREEZE,8.69,-0.989,-1.811,0,224,0
$FREEZE,8.43,-0.991,-1.811,0,224,0
$FREEZE,7.98,-0.992,-1.810,0,224,0
$FREEZE,7.59,-0.994,-1.810,0,224,0
$STATE,3755,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3755,begin subsurface finish
$FINISH1,7.6,1.026482,50
$GC,3764,0.06,49.9,7.6,-7.1,456,3801,0.73,2.38,-30.15,0.000,4,0.163,0.078,2888,854,2829,0,0,0,0,0,0
$FINISH2,6.9
$STATE,3802,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3802,begin surface
$RAFOS_CLK,215
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026964
$HUMID,47.95
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.80
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.3,16.7
$24V_AH,22.6,112.897
$10V_AH,9.8,55.890
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,3.425,42.025,328.525,0.000,0.000,0.000,0.000,0.000,10.000,0.000,0.000,1084.790,1584.253,330.952,747.115,110.366,0.000,772.062,0.000,750.629,0.000,2.616,0.000
$DEVICE_MAMPS,222.615,81.855,1024.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.221,340.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,16796,462
$CAP_FILE_SIZE,49411,0
$CFSIZE,260165632,200933376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.3
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6